Tag.h

#ifndef TAG_H
#define TAG_H

#include "stdafx.h"
#include <boost/math/quaternion.hpp> // For quaternion
#include <tuple> // For packaging position and orientation values
#include <iostream> // For output streams

// Stores AprilTag data
class Tag {
public:

	// Contructors
	Tag();
	Tag(const Tag &that);
	Tag(float, float, float);

	// Getters and setters
	int getID() const;
	void setID(int);

	// Get and set positions as <x,y,z> tuples
	std::tuple<float, float, float> getPosition() const;;
	void setPosition(std::tuple<float, float, float>);

	// Get and set orientation as a <x,y,z,w> quaternion
	::boost::math::quaternion<float> getOrientation() const;
	void setOrientation(::boost::math::quaternion<float>);

	// convenience accessor functions. The const keyword promises that we will not modify
	// class data as a side-effect of getting data.
	float getPositionX() const;
	float getPositionY() const;
	float getPositionZ() const;
	float getOrientationX() const;
	float getOrientationY() const;
	float getOrientationZ() const;
	float getOrientationW() const;

	void setPositionX(float);
	void setPositionY(float);
	void setPositionZ(float);
	void setOrientationX(float);
	void setOrientationY(float);
	void setOrientationZ(float);
	void setOrientationW(float);

	std::tuple<float, float, float> calcRollPitchYaw() const;;
	float calcRoll() const;
	float calcPitch() const;
	float calcYaw() const;

	// Allow writing of tag data to an output stream by  extending ostream.
	friend std::ostream& operator<<(std::ostream&, const Tag&);



private:

	// Tag ID
	int id = 0;

	// Position in 3D coords
	std::tuple<float, float, float> position;

	// Orientation as a quaternion
	::boost::math::quaternion<float> orientation;
};

#endif // TAG_H